CN204705894U - Magnetic navigation AGV material handling dolly - Google Patents

Magnetic navigation AGV material handling dolly Download PDF

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Publication number
CN204705894U
CN204705894U CN201520412057.2U CN201520412057U CN204705894U CN 204705894 U CN204705894 U CN 204705894U CN 201520412057 U CN201520412057 U CN 201520412057U CN 204705894 U CN204705894 U CN 204705894U
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CN
China
Prior art keywords
controller
chassis
material handling
sensor
dolly
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201520412057.2U
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Chinese (zh)
Inventor
孙选
艾长胜
李国平
赵洪华
李映君
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University of Jinan
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University of Jinan
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Priority to CN201520412057.2U priority Critical patent/CN204705894U/en
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Publication of CN204705894U publication Critical patent/CN204705894U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses magnetic navigation AGV material handling dolly, comprise: interconnective vehicle body and chassis, chassis is provided with two driving wheels and auxiliary support wheel, each driving wheel is connected with drive motor by gearing, drive motor is connected with motor driver, chassis is also provided with carry unit and controller, motor driver is connected with controller, the input end of controller connects magnetic stripe navigation sensor, guidance panel, website IC-card card reader, output terminal connects audible-visual annunciator, magnetic stripe navigation sensor is positioned at the front on chassis, website IC-card card reader is positioned at the side of vehicle body, controller is its power supply by power supply.The utility model is a kind of automatic material flow equipment, is mainly used in flexible manufacturing system and automated warehouse storage system.It is power with battery, is equipped with magnetic stripe autopilot, can independent automatic addressing, and controlled unmanned and operation by stored program controlled, saves labour in a large number, improve the transport efficacy of goods.

Description

Magnetic navigation AGV material handling dolly
Technical field
The utility model relates to materials conveying system technical field, particularly relates to a kind of magnetic navigation AGV material handling dolly.
Background technology
Between production station, between workshop and materials warehouse and in logistics warehouse, a large amount of materials is had to need carrying.At present, carrying work mostly relies on artificial or needs manual operation transportation equipment.Along with the requirement of the increase of cost of labor and the production automation, material flows automation, develop a kind of automated material haulage equipment, replace artificial, alleviate hand labor intensity, improve handling efficiency, reduce landed cost.Current magnetic navigation AGV material handling dolly also exists that transporting velocity is comparatively slow, operational reliability is not high, the high deficiency of operation expense.
Utility model content
The purpose of this utility model is exactly to solve the problem, provide a kind of magnetic navigation AGV material handling dolly, High Performance SCM control panel is adopted to control, use HIGH SENSITIVITY AND HIGH PRECISION magnetic stripe navigation sensor, its self-navigation is run, reaches the object of AGV material handling dolly high speed, high reliability and low cost movement.
To achieve these goals, the utility model adopts following technical scheme:
Magnetic navigation AGV material handling dolly, comprise: interconnective vehicle body and chassis, described chassis is provided with two driving wheels and auxiliary support wheel, each described driving wheel is connected with drive motor by gearing, described drive motor is connected with motor driver, described chassis is also provided with carry unit and controller, described motor driver is connected with controller, the input end of described controller connects magnetic stripe navigation sensor, guidance panel, website IC-card card reader, output terminal connects audible-visual annunciator, described magnetic stripe navigation sensor is positioned at the front on chassis, described website IC-card card reader is positioned at the side of vehicle body, less radio-frequency IC-card is placed at site location, described website IC-card card reader can read the information of less radio-frequency IC-card, described controller is its power supply by power supply.
Described vehicle front is provided with keeps away barrier sensor and obstacle avoidance sensor, described in keep away barrier sensor and be all connected with the input port of controller with obstacle avoidance sensor.Described keep away barrier sensor be IR evading obstacle sensors.
Described controller is single-chip microcomputer.
Described auxiliary support wheel is provided with two, is positioned at the rear on chassis.
Described carry unit comprises motor, and described motor is connected with the output terminal of controller, and the output shaft of motor is by gearing coupling hook, and controller moves up and down by controlling Electric Machine Control hook.
The beneficial effects of the utility model are:
The utility model is a kind of automatic material flow equipment, is mainly used in flexible manufacturing system and automated warehouse storage system.It is power with battery, is equipped with magnetic stripe autopilot, can independent automatic addressing, and controlled unmanned and operation by stored program controlled, saves labour in a large number, improve the transport efficacy of goods.This magnetic navigation AGV material handling dolly has landline and has that construction is simple, path flexible, does not take up room, the advantage such as movability, flexibility preferably.
Accompanying drawing explanation
Fig. 1 is the utility model chassis structure schematic diagram;
Fig. 2 is the utility model Control system architecture figure;
Wherein, 1, chassis, 2, carry unit, 3, driving wheel, 4, gearing, 5, drive motor, 6, auxiliary support wheel.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the utility model is described further:
Magnetic navigation AGV material handling dolly, comprising: interconnective vehicle body and chassis, also has magnetic stripe to guide TT&C system.Magnetic stripe guide TT&C system comprise: controller (adopting single-chip microcomputer in the present embodiment), interface card, guidance panel, obstacle avoidance sensor, keep away barrier sensor, magnetic stripe navigation sensor, website IC-card card reader, sound and light alarm, 24vDC power supply, motor driver and drive motor, in the present embodiment, motor driver has two to be respectively motor driver A and motor driver B, what drive motor was corresponding also has two, adopt brushless DC speed reduction motor in the present embodiment, be respectively brushless DC speed reduction motor A and brushless DC speed reduction motor B.
As shown in Figure 1, described chassis 1 is provided with two driving wheels 3 and auxiliary support wheel 6, and described driving wheel 3 is connected with drive motor 5 by gearing 4, and described auxiliary support wheel 6 is provided with two, is positioned at the rear on chassis.Controller is connected brushless DC speed reduction motor A and brushless DC speed reduction motor B respectively by motor driver A and motor driver B, and controller controls brushless DC speed reduction motor A and brushless DC speed reduction motor B respectively by control motor driver A and motor driver B and rotates.
Described chassis 1 is also provided with carry unit 2 and controller, the input end of described controller connects magnetic stripe navigation sensor, guidance panel, website IC-card card reader, output terminal connects audible-visual annunciator, described magnetic stripe navigation sensor is positioned at the front on chassis 1, described website IC-card card reader is positioned at the side of vehicle body, described controller is its power supply by 24vDC power supply, and power supply is that controller is powered by voltage transformation module.
Controller is also connected with scram button.Control panel is located at the front end of vehicle body.
Described vehicle front is provided with keeps away barrier sensor and obstacle avoidance sensor, described in keep away barrier sensor and be all connected with the input port of controller with obstacle avoidance sensor.Described keep away barrier sensor be IR evading obstacle sensors.
Magnetic stripe navigation sensor, guidance panel, website IC-card card reader, audible-visual annunciator, keep away barrier sensor, obstacle avoidance sensor, motor driver A be connected single-chip microcomputer by interface card with motor driver B.
Described carry unit 2 comprises motor, and described motor is connected with the output terminal of controller, and the output shaft of motor is by gearing coupling hook, and controller moves up and down by controlling Electric Machine Control hook.
The magnetic stripe that the utility model is laid along ground travels.Magnetic stripe navigation sensor is arranged on the chassis 1 of the bottom of vehicle front, and distance magnetic stripe surface 20-40mm, magnetic stripe width is 30-50mm, thickness 1mm, according to manufacturing technique requirent, is pasted on the ground of position, path.16 sampled points that magnetic stripe navigation sensor utilizes its inner interval 10mm on average to arrange, can detect the Weak magentic-field of below 100gauss above magnetic stripe, and signal correspondence in each sampled point Dou You mono-road exports.When the utility model runs, continuous 3 ~ 5 sampled points of magnetic stripe navigation sensor internal vertical above magnetic stripe can output signal to single-chip microcomputer.Single-chip microcomputer relies on 3 ~ 5 road signals exported in 16 paths, the deviation position of magnetic stripe relative to magnetic stripe navigation sensor can be judged, single-chip microcomputer exports control signal to motor driver A and motor driver B by interface card, and then control the rotation of brushless DC speed reduction motor A and brushless DC speed reduction motor B driving driving wheel, AGV dolly is adjusted automatically, guarantees to move ahead along magnetic stripe.
Guide in order to determine site location in sliver bit path in TT&C system at magnetic stripe, this AGV materials conveying system is provided with RFID radio frequency system.Less radio-frequency IC-card is placed at site location, by the website IC-card card reader of the utility model afterbody, read the id information of each website IC-card, and being transferred to single-chip microcomputer, single-chip microcomputer is according to the rising linked up with in each website action executing time-out pre-set, stopping, acceleration, deceleration, carry unit and lower degradation operation.
Operating personnel can be carried out by guidance panel and the utility model alternately.Guidance panel carries out operation and the AGV trolley travelling status surveillance such as programming in the amendment of AGV trolley travelling parameter and setting, course line of advancing.Carry out mode of operation switching by the button on guidance panel and knob and run manual operation, comprising startups, time-out, stopping, urgency are stopped, reset, advance, turned left, right-hand rotation etc.
The utility model is provided with safety system.Comprise crash sensor, keep away barrier sensor, scram button and audible-visual annunciator.When there is barrier in AGV trolley travelling front, be positioned at AGV dolly front keep away barrier sensor or crash sensor detect barrier, the rapid ramp to stop of AGV dolly will be made, send sound and light alarm simultaneously.After barrier is removed, AGV dolly moves on.When an emergency happens, scram button can be pressed rapidly, AGV dolly is stopped rapidly.
Workflow of the present utility model is:
The first step, connect the power switch on the control panel of AGV dolly front end, magnetic stripe navigation control system powers on, and now, the pilot lamp on control panel is lighted.
Second step, if the motion of manual operation dolly, selects knob to forward " manually " position to by " automatic/hand " on the control panel of AGV dolly front end.
3rd step, pin " start/advance " button, dolly is just advanced forward, release button, and dolly stops; Pin " start/advance " and " suspend/turn left " button, dolly turns left, and unclamps stopping simultaneously; Pin " start/advance " and " stop/turn right " button, dolly is turned right, and unclamps stopping simultaneously.
4th step, selects knob to forward " automatically " position to by " automatic/hand ".
5th step, carries out course line programming as requested, and upgrades.IC-card is placed on corresponding site location.
6th step, press " start/advance " button, dolly runs forward along magnetic stripe.
7th step, in advance process, presses " suspend/turn left " button, dolly operation suspension; Press " start/advance " button dolly to continue to run.
8th step, in advance process, press " stop/turn right " button, dolly is out of service; Press " start/advance " button dolly to continue to run;
In dolly automatic or manual operational process, press " suddenly stopping " button, dolly is out of service immediately.When there is barrier in dolly front, dolly halts, and warning of sounding; When barrier is encountered in dolly front end, dolly also halts, and warning of sounding; After barrier is removed, dolly moves on.
9th step, after having worked, closes total power switch, is extracted by accumulator plug from system power supply plug.
By reference to the accompanying drawings embodiment of the present utility model is described although above-mentioned; but the restriction not to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various amendment or distortion that creative work can make still within protection domain of the present utility model.

Claims (6)

1. magnetic navigation AGV material handling dolly, it is characterized in that, comprise: interconnective vehicle body and chassis, described chassis is provided with two driving wheels and auxiliary support wheel, each described driving wheel is connected with drive motor by gearing, described drive motor is connected with motor driver, described chassis is also provided with carry unit and controller, described motor driver is connected with controller, the input end of described controller connects magnetic stripe navigation sensor, guidance panel, website IC-card card reader, output terminal connects audible-visual annunciator, described magnetic stripe navigation sensor is positioned at the front on chassis, described website IC-card card reader is positioned at the side of vehicle body, described controller is its power supply by power supply.
2. magnetic navigation AGV material handling dolly as claimed in claim 1, is characterized in that, described vehicle front is provided with keeps away barrier sensor and obstacle avoidance sensor, described in keep away barrier sensor and be all connected with the input port of controller with obstacle avoidance sensor.
3. magnetic navigation AGV material handling dolly as claimed in claim 2, is characterized in that, described in keep away barrier sensor be IR evading obstacle sensors.
4. magnetic navigation AGV material handling dolly as claimed in claim 1, it is characterized in that, described controller is single-chip microcomputer.
5. magnetic navigation AGV material handling dolly as claimed in claim 1, it is characterized in that, described auxiliary support wheel is provided with two, is positioned at the rear on chassis.
6. magnetic navigation AGV material handling dolly as claimed in claim 1, it is characterized in that, described carry unit comprises motor, and described motor is connected with the output terminal of controller, the output shaft of motor is by gearing coupling hook, and controller moves up and down by controlling Electric Machine Control hook.
CN201520412057.2U 2015-06-15 2015-06-15 Magnetic navigation AGV material handling dolly Expired - Fee Related CN204705894U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520412057.2U CN204705894U (en) 2015-06-15 2015-06-15 Magnetic navigation AGV material handling dolly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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CN204705894U true CN204705894U (en) 2015-10-14

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105785995A (en) * 2016-03-15 2016-07-20 无锡凯乐士科技有限公司 Automatic guided vehicle
CN105892468A (en) * 2016-06-02 2016-08-24 芜湖智久机器人有限公司 Obstacle sensing and early-warning device for AGV control system
CN106647737A (en) * 2016-11-08 2017-05-10 天奇自动化工程股份有限公司 Ground self-propelled trolley control system
CN106743248A (en) * 2016-12-23 2017-05-31 深圳市三维通机器人系统有限公司 It is a kind of to be provided with the AGV conveying arrangements and its control method for moving material strip mechanism
CN107450533A (en) * 2017-07-06 2017-12-08 杭叉集团股份有限公司 A kind of storage center intelligently carries AGV dollies
CN107479548A (en) * 2017-08-14 2017-12-15 安徽信息工程学院 A kind of AGV trolley control systems
CN107797557A (en) * 2017-11-02 2018-03-13 江苏集萃智能制造技术研究所有限公司 It is a kind of using laser and the AGV dollies of tape hybrid navigation
CN108177941A (en) * 2018-01-12 2018-06-19 安徽臣诺机器人科技有限公司 A kind of automatic transporting trolley for carrying out clearing up table top automatically
CN108892022A (en) * 2018-09-07 2018-11-27 广州广日电梯工业有限公司 Elevator device and rental with shared shopping cart, the method for giving back shopping cart
CN109255854A (en) * 2018-10-26 2019-01-22 同人拓丰(北京)科技有限公司 A kind of intelligent patrol detection device
CN109765905A (en) * 2019-03-01 2019-05-17 航天通用技术(北京)有限公司 A kind of omnidirectional's intelligent three-dimensional carrying control system
CN113377042A (en) * 2021-06-04 2021-09-10 山东玻纤集团股份有限公司 Cooling equipment capable of automatically addressing

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105785995B (en) * 2016-03-15 2019-06-28 无锡凯乐士科技有限公司 A kind of automatic guided vehicle
CN105785995A (en) * 2016-03-15 2016-07-20 无锡凯乐士科技有限公司 Automatic guided vehicle
CN105892468A (en) * 2016-06-02 2016-08-24 芜湖智久机器人有限公司 Obstacle sensing and early-warning device for AGV control system
CN106647737A (en) * 2016-11-08 2017-05-10 天奇自动化工程股份有限公司 Ground self-propelled trolley control system
CN106743248A (en) * 2016-12-23 2017-05-31 深圳市三维通机器人系统有限公司 It is a kind of to be provided with the AGV conveying arrangements and its control method for moving material strip mechanism
CN107450533A (en) * 2017-07-06 2017-12-08 杭叉集团股份有限公司 A kind of storage center intelligently carries AGV dollies
CN107479548A (en) * 2017-08-14 2017-12-15 安徽信息工程学院 A kind of AGV trolley control systems
CN107797557A (en) * 2017-11-02 2018-03-13 江苏集萃智能制造技术研究所有限公司 It is a kind of using laser and the AGV dollies of tape hybrid navigation
CN108177941A (en) * 2018-01-12 2018-06-19 安徽臣诺机器人科技有限公司 A kind of automatic transporting trolley for carrying out clearing up table top automatically
CN108892022A (en) * 2018-09-07 2018-11-27 广州广日电梯工业有限公司 Elevator device and rental with shared shopping cart, the method for giving back shopping cart
CN109255854A (en) * 2018-10-26 2019-01-22 同人拓丰(北京)科技有限公司 A kind of intelligent patrol detection device
CN109765905A (en) * 2019-03-01 2019-05-17 航天通用技术(北京)有限公司 A kind of omnidirectional's intelligent three-dimensional carrying control system
CN109765905B (en) * 2019-03-01 2022-03-29 航天通用技术(北京)有限公司 Omnidirectional intelligent three-dimensional carrying control system
CN113377042A (en) * 2021-06-04 2021-09-10 山东玻纤集团股份有限公司 Cooling equipment capable of automatically addressing

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151014

Termination date: 20180615

CF01 Termination of patent right due to non-payment of annual fee